Acoustic video camera and systems incorporating acoustic video cameras

ABSTRACT

An acoustic video camera system uses acoustic data acquisition systems to produce digital video imagery capable of interfacing with host equipment that operates using standard video formats compatible with video images obtained using optical systems. The acoustic video camera comprises an Acoustic Imager, a Digital Image Compression Component, an I/O and Processing component, and, optionally, an Image Analytics Component. System analytics may provide automated target identification and tracking. All of these components may be incorporated in a submersible acoustic imaging unit having communications capability for interfacing with a host display and control system.

CROSS REFERENCE TO RELATED APPLICATION

This application claims priority under 35 U.S.C. §119(e) to U.S.Provisional Patent Application No. 60/939,316, filed May 21, 2007.

FIELD OF THE INVENTION

The present invention relates generally to systems for producing imageson an intermittent or substantially continuous basis, such as streamingdigital video images, using acoustic arrays and sonar systems. Theacoustic video systems generally incorporate a digital conversioncomponent and output images in a digital format that can be used inunderwater monitoring systems and integrated in systems that are capableof displaying and processing output from both acoustic imaging systemsand optical imaging systems.

BACKGROUND OF THE INVENTION

Optical video cameras are well known and have been in use for manyyears. Underwater optical video cameras generally use analog or digitalvideo transmission and can provide satisfactory resolution and viewingrange in generally clear underwater conditions. Conventional opticalvideo cameras, however, have limited viewing range in murky and turbidunderwater conditions.

High resolution imaging sonar systems have been available and used inmany different underwater applications. Sonar imaging systems providesatisfactory resolution and viewing range in many different waterconditions, including murky and turbid underwater conditions. Asignificant challenge in using sonar imaging systems in underwatersurveillance applications, however, is that sonar images can bedifficult to interpret and may require expertise and training tointerpret accurately.

Automated image analysis, identification and surveillance routines havebeen developed for use with various types of digital image formats,including digital image formats typically used with video imagesacquired using optical video systems. Sonar imaging systems aregenerally difficult to integrate into existing image analysis systemsthat are compatible with digital video formats typically used withoptical video systems, and analytical tools commonly used for automatedidentification and surveillance aren't generally compatible with sonarimage formats. For this reason, sonar imaging systems generally haven'tbeen adopted as replacements for optical video cameras, even inunderwater applications where sonar imaging systems would provideimproved imaging range in a variety of water conditions.

The acoustic video camera systems of the present invention are directedto providing imagery acquired using acoustic image acquisition systemsand output in a format in which the images are compatible with hostprocessing and display systems providing integrated monitoring andsurveillance functions.

SUMMARY OF THE INVENTION

Acoustic video cameras of the present invention use acoustic systems foracquiring imaging data and incorporate components that process theacquired data and output it in a format in which it is capable ofinterfacing with host equipment such as image display and monitoringsystems that operate using standard video formats compatible with videoimages obtained using optical techniques. Acoustic video cameras, inthis embodiment, incorporate an acoustic imager, a digital imagecompression component, an I/O and Processing component, and an OptionalOnboard Image Analytics component.

The Acoustic Imager component comprises acoustic transmit/receivearray(s) integrated with or connected to appropriate transmit/receiveelectronics and collects real-time or archival acoustic images on anintermittent or substantially continuous basis. The Digital ImageCompression component collects real-time and/or archival acoustic imagedata and compresses it using Digital Image Compression routines andformats that are compatible with digital image display and processingsystems designed for displaying and processing images obtained usingoptical technologies. Several standardized digital imaging formats areknown and may be used. In one embodiment, standard S-video, Composite,and IP camera output formats may be available from each acoustic videocamera.

The I/O and Processing component of acoustic video cameras of thepresent invention interfaces with host equipment such as image display,processing and analytics devices through standard video communicationtechniques and/or other digital or analog methods. Various datatransmission and communications capabilities, such as RF-basedcommunications, wireless (e.g., WiFi) communications, and the like maybe incorporated in the acoustic video cameras, allowing high speed andhigh fidelity communications between distributed acoustic video cameras,between acoustic video cameras and host systems, and between acousticvideo cameras and other components, such as optical video cameras,comprising a monitoring system.

Because the acoustic video camera produces images in a digital formatthat is compatible with digital images acquired using opticaltechnologies, acoustic imaging systems of the present invention may beused in combination with, or may replace, optical image acquisitiondevices that perform inadequately in underwater applications. Theconversion of acoustic imaging output to a format compatible withdigital imaging analytics used with standard digital images acquiredusing optical cameras enables “plug and play” use and interchange ofoptical camera and acoustic camera systems, allowing rapid deploymentand adjustment to different environments and conditions.

According to one embodiment, the at least one transmit and/or receivearray, the transmit and receive electronics, the digital imagecompression component, and the (optional) digital analytics componentare mounted in an integrated, submersible acoustic imaging head. Thissystem configuration provides digital image formatting and, optionally,analytics, within the acoustic video camera unit, and providescommunication of digital images, optionally including detection andtracking analytics, to a centralized (generally remote) host system.Distributed monitoring systems incorporating multiple acoustic imageacquisition systems having integrated digital image compression andanalytics components, configured so that each of the distributedmonitoring systems communicates with a central host system, haveimproved reliability, since failures in the individual distributed imageacquisition systems have a limited impact on the centralized hostsystem. Multiple fixed and/or mobile underwater surveillance sensornodes (e.g. acoustic image acquisition devices) may be connected to acommon host system using RF or wireless communications.

The ability to convert acoustic images to standard digital “video”formats allows acoustic imaging systems (e.g. sonar systems) to beemployed, alone or in combination with optical imaging systems (e.g.optical video systems) in monitoring systems. Such monitoring systemsmay, for example, incorporate underwater acoustic imaging systems andabove water, air or ground-based optical “video” imaging systems topresent comprehensive underwater and overwater information to acentralized data/monitoring image display station for managing both wetand dry surveillance.

An Optional Onboard Image Analytics component may be provided to applyimage processing to the real-time or archival imagery. Automated systemsand algorithms are available, for example, for detecting critical imageinformation such as moving objects in images in a standard video format.Images acquired using acoustic systems and techniques and converted tostandardized digital “video” formats in acoustic imaging systems of thepresent invention may employ existing monitoring systems and algorithmsfor mining information from the images and detecting changes over time,such as moving objects. This information may then be displayed,announced, etc. through the interface with a host system providing auser interface. When critical features or changes are detected in imagesor over time in streaming images, the host system may implementprogrammed or programmable alarms, and the like. Disclosed acousticvideo systems of the present invention can leverage extensive investmentin development of optical video analytics to develop target detectionand tracking routines, such as rapid fielding of existing detection &tracking solutions; motion, target counting, and target behavior basedalarms; sophisticated zone and policy-based alarms; automatic targettracking between multiple heads; secure, web-based view and control fromany networked PC; alarm activated automated actions such has lockingdoors and turning on lights or notifications via email, text message,pager, and the like; flexible record and playback options (record,scheduled record, alarm and pre-alarm record, and playback duringrecord).

Acoustic imaging systems of the present invention may also integratenavigational sensors or data acquisition devices, GPS systems and thelike. Acoustic data acquisition systems of the present invention may,for example, incorporate GPS and compass components that, in combinationwith communications capabilities, provide acoustic imaging systemshaving self-geo-referencing capabilities that can be monitored by a hostsystem. This is self-geo-referencing capability is beneficial and allowsdeployment of acoustic data acquisition and video camera systems inunderwater locations where mounting or tethering to a fixed structuremay not be possible or the platform is mobile. Acoustic imaging systemshaving self-geo-referencing capabilities may be distributed to desiredunderwater sites quickly and provide feedback to the host system aboutits location.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a schematic diagram of an embodiment of an acousticvideo camera of the present invention that produces digital videoimagery using data acquired with an acoustic imager;

FIG. 2 illustrates an illustrative diagram showing an acoustic videocamera of the present invention;

FIG. 3 illustrates an embodiment of a distributed surveillance systemincorporating a plurality of fixed or mobile acoustic video cameras ofthe present invention that interface with a centralized monitoringstation;

FIG. 4 illustrates a screen capture from an acoustic video cameradescribed in Example 1 and illustrates detection of a diver at longrange in a complicated port environment;

FIG. 5 illustrates a sonar image captured from an acoustic video cameradescribed in Example 2 and illustrates automated tracking of salmon;

FIG. 6A illustrates a screen capture from an acoustic video cameradescribed in Example 3 and illustrates automated detection of a diver;and

FIG. 6B illustrates a screen capture from an acoustic video cameradescribed in Example 3 and illustrates automated detection and trackingof multiple salmon at 20 m range, which is comparable to human divers atover 240 ft.

DETAILED DESCRIPTION OF THE INVENTION

An acoustic video camera 10 capable of interfacing with host equipmentsuch as image display and monitoring systems that operate using astandard video format compatible with video images obtained usingoptical techniques is shown schematically in FIG. 1. Acoustic videocamera 10, in this embodiment, comprises an acoustic imager 12 thatcollects (acoustic) image data at frame rates generally in the range ofbetween 3-10 Hz, a digital image compression component 14 thatcompresses the imagery to a standardized (or custom) digital formatrecognizable by a host system, and an I/O and Processing component 16providing an interface for communication with a host system 20, whichmay be provided at a remote location, and which may interface with aplurality of input devices. Acoustic video camera 10 may additionallycomprise an Optional Onboard Image Analytics component 18 that providesa range of data processing and analytics capabilities. When analyticscomponent 18 is implemented before I/O component 16, it may monitor theacoustic image stream to detect pre-defined objects or features, totrack pre-defined objects or features, and trigger alarms, begintransmission or data collection, initiate additional processing, orother functions. The components comprising acoustic video camera 10 arepreferably housed in a submersible, watertight housing suitable forlong-term underwater use.

The Acoustic Imager component 12 collects real-time or archival Acousticimages. The acoustic imaging devices are primarily horizontally and/orvertically oriented 2D sonar or 3D sonar. These systems can generatefull images either within a single pulse or very quickly in amechanically scanned mode, such that the motion of a sensor platform ortarget does not significantly affect the acquired image. They generallyproduce multiple frames per second and provide high quality, highresolution imagery of underwater scenes. The Acoustic Imager componentmay produce either 2D images, 2D surfaces in 3D space, or 3D volumetricimages. An Acoustic Imager may be beam formed with time frequency-based,conventional time and/or phase-delay-based beam forming techniques, orlens-based beam forming techniques. The images can be unfocused, fixedfocus, or variable focal range. The acoustic imaging system may be usedwith mechanical scanning techniques such as rotational scanning motorsor translational motor or vehicle motion to collect data and generateimages. Exemplary acoustic imager components are described in detail inU.S. Patent Publication US 2005/0007882 A1, which is incorporated hereinby reference in its entirety.

The Digital Image Compression component 14 collects and compressesreal-time or archival imagery using Digital Image Compression routines.Digital compression is any technique that converts an image or imagedata into a new data format that can be converted back into a comparableimage or image data format with or without information loss. Thetechnique will ideally reduce memory requirements for storage by amaximum amount and reduce data loss to a minimum. In addition, acompression routine may convert an image stream into an industrystandard video stream format such that decompression and display orprocessing of the sonar imagery can easily be achieved using standardvideo processing and display systems. Implementing such a compressiontechnique provides uniquely seamless (“plug and play”) integration withvideo surveillance systems. Exemplary video compression anddecompression formats (CODECs) suitable for implementation in digitalimage compression components of the present invention include (but arenot limited to) one or more of the following: H.261, MPEG-1, MPEG-2,H.263, Indeo, Cinepak, Sorenson Spark, MPEG-4, AVC, Sorenson 3, Theora,WMV, and VC-1. There are many other variants and digital imagecompression and decompression routines that may be developed and used.The choice of any specific compression routine may depend on compressionpower, speed, and fidelity involved or required for specificapplications.

The I/O and Processing component 16 interfaces with a host system 20through standard video communication techniques and/or other digital oranalog methods. It transmits control information from host system 20 tothe acoustic video camera and it transmits compressed (or uncompressed)acoustic image data from the acoustic video camera to the host system.The I/O and Processing component 16 may also apply conversion andencryption routines as part of the processing and transmission. The I/Ocomponent can be fashioned as a hard wired connection in serial orparallel formats, or it may be provided with wireless, satellite, ormodem connections. The I/O may also be implemented as an analogtransmission. It may have the capability of communicating using commonprotocols such as Ethernet, S-video, RGB, Composite video, USB, RS485,and the like. The processing may reside at the beginning oftransmission, at the end of transmission, or on both sides of thetransmission.

The Optional Onboard Image Analytics component 18 applies imageprocessing to the real-time or archival acoustic imagery to detectcritical image information and anomalies such as moving objects. Theanalytics component may have the capability to detect, track, andclassify specific features and objects in the imagery and is implementedin the submersible Acoustic Video Camera unit. This provides automaticdetection of areas and actions of interest in accordance withpre-defined programs, rules, routines, and the like. It also reducesmanpower requirements and I/O data bandwidth requirements for asurveillance system. The imagery analytics may be implemented on onboardFPGA, ASIC, Dedicated Signal Processors (DSPs) or other embeddedprocessors including single board computers. The imagery analytics maybe custom developed for specific imaging systems. Alternatively, becausethe acoustic video camera of the present invention produces imagesgenerated using acoustic data in a digital format that is compatiblewith standard optical digital image processing and analytics components,the Optional Onboard Image Analytics component may comprise pre-writtenmodified or unmodified routines developed for optical video surveillancecameras.

The Acoustic Imager hardware generally contains the Digital Compressionroutines. The Acoustic Imager is connected to the I/O and Processing.The optional onboard analytics resides in part or fully on the AcousticVideo Camera. The digital compression can also be implemented as aseparate compressor/converter module that converts the Acoustic Imagerdata into an industry standard video stream. The Acoustic Imager mayalso contain some of the processing that facilitates the I/O function.Ideally the Optional Onboard Analytics is implemented entirely beforethe I/O function, but components of the analytics may be split acrossthe I/O function.

FIG. 2 presents a schematic diagram showing an exemplary acoustic videocamera 10′ comprising an acoustic imaging head 12′, a digital imagecompression component 14′, I/O and Processing component 16′ and optionalonboard analytics component 18′. In this system, acoustic imaging headcomprises a frequency steered underwater imager such as disclosed inU.S. Patent Publication US 2005/0007882 A1, which is incorporated hereinby reference in its entirety. A P450 miniature multibeam imaging sonaravailable from BlueView Technologies, 2151 N. Northlake Way, Suite 101,Seattle Wash. 98103, www.blueviewtech.com) is suitable. This imagingsonar provides a wide (at least 45°) field of view and operates at 450kHz, which provides high resolution imaging and target detection toranges of 150 m. Digital image compression component 14′ comprises anonboard beam forming, compression, and video conversion card. Exemplarycomponents are available and provide digital image compression anddecompression to a standardized format (CODEC) such as H.261, MPEG-1,MPEG-2, H.263, Indeo, Cinepak, Sorenson Spark, MPEG-4, AVC, Sorenson 3,Theora, WMV, VC-1, and many other variants. The compression format usedmay depend on a number of factors, including compression power, speed,and fidelity.

I/O and Processing component 16′ provides industry-standard,Ethernet-based control and high speed data transmission,industry-standard video camera interfaces such as S-video, Composite andIP camera emulations, and may also provide output to control additionalfeatures, such as pan and tilt maneuvering features. Onboard ImageAnalytics component 18′ preferably comprises an onboard sonar videoanalytics card providing distributed intelligence for improvedscalability, flexibility and performance.

Multiple acoustic imaging acquisition systems may be assembled and used,in a distributed system, with a common display and controller system.FIG. 3 schematically illustrates a distributed underwater surveillancesystem in which multiple acoustic image acquisition systems aredistributed to provide underwater monitoring or surveillance of agenerally large area, such as the area including and surrounding a thehull of a ship moored to a pier. In this exemplary system, multipleacoustic image acquisition systems 22 and 24 are distributed atlocations in the water, such as on the bottom, and are oriented toacquire images within the desired target area. The spatial areas coveredby acoustic image acquisition systems 22 and 24 are indicated by thecircles, which demonstrate that the image acquisition areas preferablyoverlap. Additional acoustic image acquisition systems 32, 34, 36, 38,40, 42 and 44 are mounted (in a stationary or movable condition) to thepier or to another fixed structure and are oriented to acquire imageswithin the desired target areas (illustrated for systems 32, 24, 36 and38 by the circles). The image acquisition area of some or all of theacoustic image acquisition devices may overlap, as shown.

The individual acoustic image acquisition devices 22, 24, 32, 34, 36,38, 40, 42 and 44 communicate with a common host system 46, which may bestationary or movable, and may be mounted or mountable on a land-basedor water-based system. In the exemplary system illustrated in FIG. 3,host system 46 may be used in a land-based or water-based command andcontrol center. The host display and controller device preferably hasprocessing and display capabilities allowing interrogation and displayof images collected individually from the multiple acoustic imageacquisition devices, as well as combined/overlaid images. The imagesacquired from the multiple image acquisition systems may be viewed byand shared across multiple foxed and mobile platforms to facilitaterapid detection, understanding, decisions and response.

The ability to convert acoustic images to standard digital formats thatare compatible with systems that display and process images acquired byoptical techniques, allows acoustic imaging systems (e.g. sonar systems)to be employed, alone or in combination with optical imaging systems(e.g. optical video systems) in monitoring systems using a common hostdisplay/controller system. Such monitoring systems may, for example,incorporate underwater acoustic imaging systems and above water, air orground-based optical “video” imaging systems to present comprehensiveunderwater and overwater information to a centralized data/monitoringimage display station for managing both wet and dry surveillance.

An Optional Onboard Image Analytics component may be provided to applyimage processing to the real-time or archival imagery. Automated systemsand algorithms are available, for example, for detecting critical imageinformation such as moving objects in images in a standard video format.Images acquired using acoustic systems and techniques and converted tostandardized digital “video” formats in acoustic imaging systems of thepresent invention may employ existing monitoring systems and algorithmsfor mining information from the images and detecting changes over time,such as moving objects. This information may then be displayed,announced, etc. through the interface with a host system providing auser interface. When critical features or changes are detected in imagesor over time in streaming images, the host system may implementprogrammed or programmable alarms, and the like.

Acoustic imaging systems of the present invention may also integrateGPS/WiFi, navigational sensors or data acquisition devices, and thelike. Acoustic data acquisition systems of the present invention may,for example, incorporate WIFI, GPS and compass components that provideself-geo-referencing capabilities. This is beneficial, in that theacoustic data acquisition system may be “tossed in” an underwater siteand provide feedback to the host about its location.

The following examples are provided for purposes of illustration and arenot intended to limit the invention to any of the disclosed systems orparameters.

Example 1 Acoustic Video Camera Demonstration

Conventional solutions to underwater swimmer detection generally utilizesingle, long-range (500 m) sonar systems. These systems tend to beexpensive, large (crane deployed), stand alone solutions. In addition,because these single point solutions typically attempt to detectswimmers at over 500 m range, they tend to be vulnerable to the strongand dynamic sound velocity profiles and high reverberation levelscommonly found in harbors.

A commercial miniature multibeam imaging sonar system (BlueViewTechnologies P450E available from BlueView Technologies, 2151 N.Northlake Way, Suite 101, Seattle Wash. 98103, www.blueviewtech.com)having the specifications and producing images in the video outputformats shown below was operated with a BlueView ProViewer graphicaluser interface. The acoustic video system was mounted on a floatingplatform and operated to demonstrate detection of a diver at long rangein a complicated port environment.

P450E System Specifications:

-   -   Frequency: 450 kHz    -   Field of View: 45°×15°    -   Max Range: 450 ft    -   Beam Width: nominal 1°×15°    -   Number of Beams: 256    -   Beam Spacing: 0.18°    -   Range Resolution: 2 in    -   Update Rate Up to 10 Hz    -   Size: 9.6 in×6.9 in×4.0 in    -   Video output formats: AVI with multiple compression codecs        including Indeo 5.1, H.261, H.263, and multiple other formats.

A screen capture from a video stream displayed on the user interfacedemonstrates detection of a diver at long range (approximately 380 ft)and is shown in FIG. 4. The diver's reflection is highlighted by thesmall dashed circle. Regions in the acoustic video image correspondingto a boat wake, the diver (at long range) and pilings at various rangesare also highlighted. Viewed as a movie, the moving diver target waseasily discerned in the video stream swimming near the stationaryunderwater pier structures. This imagery illustrates the use of acommercial 450 kHz sonar system modified to provide image processing andoutput images acquired using sonar techniques in standardized videoformats to detect and track a target in a complicated environment.

Example 2 Demonstration of Target Detection Using an Acoustic VideoCamera

Another optical video compatible sonar system was assembled using acommercial BlueView P450-15 sonar system that was modified toincorporate specially developed analytics algorithms compatible withsonar video imagery to provide detection and tracking of targets. Ascreen shot from a video stream displayed on the user interfacedemonstrates detection of a salmon at a relatively short range and isshown in FIG. 5.

Example 3 Demonstration of Automated Target Detection and Tracking Usingan Acoustic Video Camera Modified with Standard Video AnalyticsCapabilities

Another optical video compatible sonar system was assembled using acommercial BlueView P450-15 sonar system modified to incorporateoff-the-shelf detection and tracking software algorithms for standardCCT video analytics from ActivEye. Commercial video analyticscapabilities includes automated detection and classification ofbehaviors for people and vehicles in CCT camera imagery. Detectedtargets can be tracked, measured and counted.

FIG. 6A shows a screen shot from a video stream illustrating automateddetection and tracking of a diver swimming at close range. The analyticscapabilities of the system automatically identify the diver and draw anellipsoid around the diver in the displayed image.

FIG. 6B shows a screen shot from a video stream illustrating automateddetection and tracking of several fish swimming at close range. Theanalytics capabilities of the system automatically identify multiplefish and draw ellipsoids around the identified fish. Although only aquick demonstration with limited data was conducted, both divers andsalmon targets were accurately detected, tracked, and sized usingacoustic imaging systems incorporating video analytics softwarealgorithms designed for use with images generated using optical cameras.The operability and success of this system was unexpected.

The disclosed invention has been described with reference to specificembodiments and figures. These specific embodiments should not beconstrued as limitations on the scope of the invention, but merely asillustrations of exemplary embodiments. It is further understood thatmany modifications, additions and substitutions may be made to thedescribed instruments, components and kits without departing from thescope of the disclosed invention.

We claim:
 1. An acoustic camera system comprising; a sonar system thatcollects acoustic image data in an underwater environment; a digitalimage compression component that compresses and formats the acousticimage data to provide digital image output that is compatible withdigital image display and processing systems suitable for displayingimages obtained using optical technologies; and an industry-standardvideo camera interface, wherein the acoustic camera system providesdirect plug and play compatibility between the sonar system thatcollects acoustic image data in an underwater environment and digitalvideo display and surveillance systems that are compatible with digitalimage display and processing systems designed for displaying andprocessing images obtained using optical technologies; and the digitalimage compression component is capable of producing at least one of thefollowing types of images: 2D, 2D surfaces in 3D space, and 3Dvolumetric images.
 2. A distributed monitoring system comprising aplurality of acoustic camera systems of claim 1, each of the acousticcamera systems being in communication with a centralized host systemhaving image display capabilities.
 3. A distributed monitoring system ofclaim 2, additionally comprising at least one optical video camera incommunication with the host system.
 4. The distributed monitoring systemof claim 2, wherein at least one of the acoustic camera systemsincorporates a self-geo-referencing capability that can be monitored bythe host system.
 5. The acoustic camera system of claim 1, additionallycomprising an image analytics component that applies image processing tothe digital image output to detect changes in the images over time. 6.The acoustic camera system of claim 1, additionally comprising an imageanalytics component that applies image processing to the digital imageoutput for mining information from the images.
 7. An acoustic camerasystem comprising a sonar system having at least one transmit and/orreceive acoustic array configured for collecting underwater acousticimage data; a digital image processing component configured forprocessing the underwater acoustic image data to produce images in adigital image format that is compatible with optical digital imageprocessing and analytics components, wherein the sonar system and thedigital image processing component are mounted in an integrated,submersible sonar system housing; and the digital image processingcomponent is capable of producing at least one of the following types ofimages: 2D, 2D surfaces in 3D space, and 3D volumetric images.
 8. Anacoustic camera system of claim 7, wherein the digital image processingcomponent provides digital image compression.
 9. An acoustic camerasystem of claim 7, wherein the digital image processing component isprovided as a beam forming, compression and video conversion card. 10.An acoustic camera system of claim 7, additionally comprising a digitalimage analytics component.
 11. An acoustic camera system of claim 10,wherein the digital image analytics component integrates analyticscapable of detecting moving objects.
 12. An acoustic camera system ofclaim 7, wherein the acoustic transmit and receive array(s) provide awide field of view greater than 45°.
 13. An acoustic camera system ofclaim 7, additionally comprising output capability for high speedtransmission of digital images.
 14. An acoustic camera system of claim7, additionally comprising ethernet-based control and data transmissioncapability.
 15. An acoustic camera system of claim 7 that is capable ofinterfacing with a monitor displaying digital images output from theacoustic camera system intermittently or on a substantially continuousbasis.
 16. An acoustic camera system of claim 15, additionallycomprising a digital image analytics component incorporating analyticscapable of detecting moving objects, and wherein the monitor is capableof displaying digital images output from the acoustic video camera thatidentify moving objects within an image.
 17. An acoustic camera systemof claim 15, wherein the analytics component is additionally capable oftracking moving objects, and wherein the monitor is capable ofdisplaying digital images output from the acoustic camera that trackmoving objects within an image.
 18. An acoustic camera system of claim7, additionally comprising navigational components capable of providingself-geo-referencing data and communications components capable ofcommunicating the self-geo-referencing data to a host system.
 19. Theacoustic camera system of claim 7, wherein the acoustic data acquisitionsystem comprises a frequency steered underwater imager.
 20. The acousticcamera system of claim 7, wherein the acoustic data acquisition systemis beam formed using at least one of the following techniques: timefrequency beam forming, conventional time and/or phase-delay-based beamforming, and lens-based beam forming.
 21. The acoustic camera system ofclaim 7, wherein the data acquisition system is capable of movementresulting from at least one of the following scanning techniques:rotational scanning motor, translational scanning motor, and vehiclemotion.